moveit_ik_demo.py逆向运动学程序报错，Rviz中机器人不动的解决方法

机械臂逆向运动学规划出现如下报错，

[ INFO] [1724218381.792771589]: Loading robot model 'probot_anno'...
[ INFO] [1724218381.795094101]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1724218382.367188108]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1724218383.766310654]: Ready to take commands for planning group manipulator.
[ WARN] [1724218390.480866558]: Fail: ABORTED: TIMED_OUT

查了一些帖子，主要解决方案思路是更换Kinematic求解器

先尝试了在kinematics.yaml中直接更换求解器，出现如下代码报错

[ERROR] [1724218620.906642073]: The kinematics plugin (manipulator) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1724218620.906867882]: Kinematics solver could not be instantiated for joint group manipulator.

实际上应该回到Setup_moveit中修改

rosrun moveit_setup_assistant moveit_setup_assistant

修改过程如下，先点manipulator，再点Edit Selected

在这个页面中选择带ik的求解器

最后重新生成包，我就不放图片了，Rviz正常可执行ik的程序